Related papers: Minimum-time interception of a moving target by a …
The axisymmetric deformation and motion of interacting droplets in an imposed temperature gradient is considered using boundary-integral techniques for slow viscous motion. Results showing temporal drop motion, deformations and separation…
We prove local well-posedness for the Muskat problem on the half-plane, which models motion of an interface between two fluids of distinct densities (e.g., oil and water) in a porous medium (e.g., an aquifer) that sits atop an impermeable…
The first part of this paper is devoted to introducing an approach to compute the approximate minimum time function of control problems which is based on reachable set approximation and uses arithmetic operations for convex compact sets. In…
Robotic catching of flying objects typically generates high impact forces that might lead to task failure and potential hardware damages. This is accentuated when the object mass to robot payload ratio increases, given the strong inertial…
Interstellar objects (ISOs) represent a compelling and under-explored category of celestial bodies, providing physical laboratories to understand the formation of our solar system and probe the composition and properties of material formed…
Consider a rigid body, $\mathscr B$, constrained to move by translational motion in an unbounded viscous liquid. The driving mechanism is a given distribution of time-periodic velocity field, $\bfv_*$, at the interface body-liquid, of…
Advective trapping occurs when solute enters low velocity zones in heterogeneous porous media. Classical local modeling approaches combine the impact of slow advection and diffusion into a hydrodynamic dispersion coefficient and many…
In this paper, we review some of the extant literature on the study of interstellar objects (ISOs). With the forthcoming Vera C. Rubin Telescope and Legacy Survey of Space and Time (LSST), we find that $0.38 - 84$ `Oumuamua-like…
We obtain estimates of all components of the velocity of a 3D rigid body moving in a viscous incompressible fluid without any symmetry restriction on the shape of the rigid body or the container. The estimates are in terms of suitable norms…
When working around other agents such as humans, it is important to model their perception capabilities to predict and make sense of their behavior. In this work, we consider agents whose perception capabilities are determined by their…
A viscous, lubrication-like response can be triggered in a thin film of fluid squeezed between a rigid and flat surface and the tip of an incoming projectile. We develop a comprehensive theory for this viscous approach stage of…
One of the fundamental problems in spacecraft trajectory design is finding the optimal transfer trajectory that minimizes the propellant consumption and transfer time simultaneously. We formulate this as a multi-objective optimal control…
Experiments on the motion of a particle on an inclined rough plane have yielded some surprising results. For example, it was found that the frictional force acting on the ball is viscous, {\it i.e.} proportional to the velocity rather than…
We present a world-line effective field theory of compact objects moving relativistically through a viscous fluid. The theory is valid when velocity gradients are small compared to the inverse size of the object. Working within the EFT…
We consider the motion of a rigid body immersed in a two-dimensional viscous incompressible fluid with Navierslip-with-friction conditions at the solid boundary. The fluid-solid system occupies the whole plane. We provethe small-time exact…
We consider the compressible Navier-Stokes equations for isentropic dynamics with real viscosity on a bounded interval. In the case of boundary data defining an admissible shock wave for the corresponding unviscous hyperbolic system, we…
This paper presents an approach for approximating the reachable space of robotic manipulators based on convex polytopes. The proposed approach predicts the reachable space over a given time horizon based on the robot's actuation limits and…
We aim to enable robots to visually localize a target person through the aid of an additional sensing modality -- the target person's 3D inertial measurements. The need for such technology may arise when a robot is to meet person in a crowd…
Minimising movements are investigated for an energy which is the superposition of a convex functional and fast small oscillations. Thus a minimising movement scheme involves a temporal parameter $\tau$ and a spatial parameter $\epsilon$,…
We present a planning and control framework for physics-based manipulation under uncertainty. The key idea is to interleave robust open-loop execution with closed-loop control. We derive robustness metrics through contraction theory. We use…